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Changes in launch file #11

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Changes in launch file #11

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d568029
I am Gawd
bhavy1612 Sep 6, 2019
1f4c81d
Adding changes to launch file
bhavy1612 Sep 7, 2019
25f9972
added mapping launch file
bhavy1612 Sep 7, 2019
675e932
changes in launch file
bhavy1612 Sep 7, 2019
6a0a96a
changes in launch file
bhavy1612 Sep 8, 2019
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32 changes: 32 additions & 0 deletions wamv_perception/wamv_lidar/launch/pointcloud_to_laserscan.launch
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Original file line number Diff line number Diff line change
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<launch>
<node pkg="gmapping" type="slam_gmapping" name="slam_gmapping" />

<!-- Create a manager becuase nodelets wont launch without one-->
<node pkg="nodelet" type="nodelet" name="pointcloud_to_laserscan_manager" output="screen" respawn="true" args="manager"/>

<!-- push pointcloud_to_laserscan nodelet into the dummny manager above-->
<node pkg="nodelet" type="nodelet" name="pointcloud_to_laserscan_worker" args="load pointcloud_to_laserscan/pointcloud_to_laserscan_nodelet pointcloud_to_laserscan_manager">

<remap from="cloud_in" to="/lidar_wamv/points"/>
<rosparam>
target_frame: lidar_wamv_link
transform_tolerance: 0.01
min_height: -5.0
max_height: 2.0

angle_min: -3.14 # -M_PI
angle_max: 3.14 # M_PI
angle_increment: 0.0087 # M_PI/360.0
scan_time: 0.3333
range_min: 0.1
range_max: 50
use_inf: true

# Concurrency level, affects number of pointclouds queued for processing, thread number governed by nodelet manager
# 0 : Detect number of cores
# 1 : Single threaded
# 2->inf : Parallelism level
concurrency_level: 0
</rosparam>
</node>
</launch>